Multi rotor Platform Based UAV Systems

Multi rotor Platform Based UAV Systems
Author: Franck Cazaurang,Kelly Cohen,Manish Kumar
Publsiher: ISTE Press - Elsevier
Total Pages: 300
Release: 2019-06-15
Genre: Technology & Engineering
ISBN: 9781785482519

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Multi-rotor Platform Based UAV Systems is aimed at providing an excellent opportunity for experiential learning, capability augmentation and confidence building for senior level undergraduates, entry-level graduates as well as engineers working in government agencies and industry involved in UAV R&D. Topics in this book include: introduction to VTOL multi-copter UAV platforms; UAV system architecture; integration in the national airspace, including UAV classification and associated missions, regulation and safety, certification and air traffic management; integrated mission planning including autonomous fault tolerant path planning and vision based auto landing systems; flight mechanics and stability; dynamic modeling; and flight controller development. Other topics covered include sense, detect and avoid systems; flight testing including safety assessment instrumentation and data acquisition telemetry and synchronization data fusion and geo-location of identified targets; energy power and thrust management including electrical power, battery cells, propellers, and electrical motors; MATLAB/Simulink software including system identification based dynamic models; Aeroquad quadcopter Simulink model controller development and optimization techniques; reference maneuvers and robustness testing of degraded flight models due to malfunctions; and implementation in existing off-the-shelf platforms including the Parrot AR drone and the Aeroquad quadcopters. Provides an excellent opportunity for experiential learning, capability augmentation and confidence building for senior level undergraduates, entry-level graduates and engineers working in government and industry involved in UAV R&D Includes MATLAB/SIMULINK computational tools and off-the-shelf hardware implementation tutorials Offers a student centered approach Provides a quick and efficient means to conceptualize, design and synthesize and analyze using modeling and simulations Offers international perspective and appeal for engineering students and professionals

Multi rotor Platform Based UAV Systems

Multi rotor Platform Based UAV Systems
Author: Franck Cazaurang,Kelly Cohen,Manish Kumar
Publsiher: Elsevier
Total Pages: 270
Release: 2020-02-28
Genre: Technology & Engineering
ISBN: 9780081023587

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Multi-rotor Platform Based UAV Systems provides an excellent opportunity for experiential learning, capability augmentation and confidence-building for senior level undergraduates, entry-level graduates, engineers working in government agencies, and industry involved in UAV R&D. Topics in this book include an introduction to VTOL multi-copter UAV platforms, UAV system architecture, integration in the national airspace, including UAV classification and associated missions, regulation and safety, certification and air traffic management, integrated mission planning, including autonomous fault tolerant path planning and vision based auto landing systems, flight mechanics and stability, dynamic modeling and flight controller development. Other topics covered include sense, detect and avoid systems, flight testing, including safety assessment instrumentation and data acquisition telemetry, synchronization data fusion, the geo-location of identified targets, and much more. Provides an excellent opportunity for experiential learning, capability augmentation and confidence building for senior level undergraduates, entry-level graduates and engineers working in government, and industry involved in UAV R&D Includes MATLAB/SIMULINK computational tools and off-the-shelf hardware implementation tutorials Offers a student centered approach Provides a quick and efficient means to conceptualize, design, synthesize and analyze using modeling and simulations Offers international perspective and appeal for engineering students and professionals

Optimizing Small Multi Rotor Unmanned Aircraft

Optimizing Small Multi Rotor Unmanned Aircraft
Author: Stephen D. Prior
Publsiher: CRC Press
Total Pages: 120
Release: 2018-09-18
Genre: Technology & Engineering
ISBN: 9780429766770

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This design guide was written to capture the author’s practical experience of designing, building and testing multi-rotor drone systems over the past decade. The lack of one single source of useful information meant that the past 10 years has been a steep learning curve, a lot of self-tuition and many trial and error tests. Lessons learnt the hard way are not always the best way to learn. This book will be useful for the amateur drone pilot who wants to build their own system from first principles, as well as the academic researcher investigating novel design concepts and future drone applications.

Vision based Automatic Landing of a Rotary UAV

Vision based Automatic Landing of a Rotary UAV
Author: Iryna Borshchova
Publsiher: Unknown
Total Pages: 135
Release: 2017
Genre: Electronic Book
ISBN: OCLC:1320820278

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A hybrid-like (continuous and discrete-event) approach to controlling a small multi-rotor unmanned aerial system (UAS) while landing on a moving platform is described. The landing scheme is based on positioning visual markers on a landing platform in a detectable pattern. After the onboard camera detects the object pattern, the inner control algorithm sends visual-based servo-commands to align the multi-rotor with the targets. This method is less computationally complex as it uses color-based object detection applied to a geometric pattern instead of feature tracking algorithms, and has the advantage of not requiring the distance to the objects to be calculated. The continuous approach accounts for the UAV and the platform rolling/pitching/yawing, which is essential for a real-time landing on a moving target such as a ship. A discrete-event supervisor working in parallel with the inner controller is designed to assist the automatic landing of a multi-rotor UAV on a moving target. This supervisory control strategy allows the pilot and crew to make time-critical decisions when exceptions, such as losing targets from the field of view, occur. The developed supervisor improves the low-level vision-based auto-landing system and high-level human-machine interface. The proposed hybrid-like approach was tested in simulation using a quadcopter model in Virtual Robotics Experimentation Platform (V-REP) working in parallel with Robot Operating System (ROS). Finally, this method was validated in a series of real-time experiments with indoor and outdoor quadcopters landing on both static and moving platforms. The developed prototype system has demonstrated the capability of landing within 25 cm of the desired point of touchdown. This auto-landing system is small (100 x 100 mm), light-weight (100 g), and consumes little power (under 2 W).

Introduction to UAV Systems

Introduction to UAV Systems
Author: Paul Fahlstrom,Thomas Gleason
Publsiher: John Wiley & Sons
Total Pages: 312
Release: 2012-07-11
Genre: Technology & Engineering
ISBN: 9781118396810

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Unmanned aerial vehicles (UAVs) have been widely adopted in themilitary world over the last decade and the success of thesemilitary applications is increasingly driving efforts to establishunmanned aircraft in non-military roles. Introduction to UAV Systems,4th edition provides a comprehensiveintroduction to all of the elements of a complete Unmanned AircraftSystem (UAS). It addresses the air vehicle, mission planning andcontrol, several types of mission payloads, data links and how theyinteract with mission performance, and launch and recoveryconcepts. This book provides enough information to encourage astudent to learn more; to provide a specialist with a basicappreciation of the technical issues that drive other parts of thesystem and interact with their specialty; or to help a programmanager understand system-level tradeoffs and know what questionsto ask. Key features: Comprehensive overview of all elements of a UAS and of how theyinteract. Introduces the underlying concepts of key subsystems. Emphasizes system-integration issues and how they relate tosubsystem design choices. Practical discussion of issues informed by lessons learned inUAV programs. Introduction to UAV Systems,4th edition is written both for newcomersto the subject and for experienced members of the UAV community whodesire a comprehensive overview at the system level. As well as being a primary text for an introductory course onUAS or a supplementary text in a course that goes into more depthin one of the individual technologies involved in a UAS, this bookis a useful overview for practicing engineers, researchers,managers, and consultants interested in UAV systems.

Designing Unmanned Aircraft Systems

Designing Unmanned Aircraft Systems
Author: Jay Gundlach
Publsiher: Amer Inst of Aeronautics &
Total Pages: 848
Release: 2014-09-01
Genre: Technology & Engineering
ISBN: 1624102611

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Investigates all elements of the UAS design process, including architectural options and design drivers across diverse system classes. This book provides a comprehensive understanding of the end-to-end unmanned aircraft system and a deeper appreciation for the multidisciplinary nature of UAS design.

Unmanned Rotorcraft Systems

Unmanned Rotorcraft Systems
Author: Guowei Cai,Ben M. Chen,Tong Heng Lee
Publsiher: Springer Science & Business Media
Total Pages: 270
Release: 2011-06-01
Genre: Technology & Engineering
ISBN: 9780857296351

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Unmanned Rotorcraft Systems explores the research and development of fully-functional miniature UAV (unmanned aerial vehicle) rotorcraft, and provides a complete treatment of the design of autonomous miniature rotorcraft UAVs. The unmanned system is an integration of advanced technologies developed in communications, computing, and control areas, and is an excellent testing ground for trialing and implementing modern control techniques. Included are detailed expositions of systematic hardware construction, software systems integration, aerodynamic modeling; and automatic flight control system design. Emphasis is placed on the cooperative control and flight formation of multiple UAVs, vision-based ground target tracking, and landing on moving platforms. Other issues such as the development of GPS-less indoor micro aerial vehicles and vision-based navigation are also discussed in depth: utilizing the vision-based system for accomplishing ground target tracking, attacking and landing, cooperative control and flight formation of multiple unmanned rotorcraft; and future research directions on the related areas.

Resilient Aerial Autonomy Through Extended High gain Observers

Resilient Aerial Autonomy Through Extended High gain Observers
Author: Connor James Boss
Publsiher: Unknown
Total Pages: 136
Release: 2021
Genre: Electronic dissertations
ISBN: 9798534691566

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For a growing number of flight operations, human piloted aircraft are being replaced by autonomous uncrewed aerial vehicles (UAVs) which can provide equivalent service with drastically reduced operating costs. The UAVs that are deployed in mission critical applications, such as search and rescue, medical deliveries to remote locations, infrastructure inspection, and reconnaissance and surveillance, must be extremely resilient as the loss of a vehicle poses significant threats to financial, security, or personnel interests. In order to rely on uncrewed systems in these mission critical situations, we must have confidence in their ability to perform their duties as reliably as possible. Recent advancements in hardware, software, and control design have increased the reliability of these small inexpensive aircraft. The focus of this dissertation is to further improve multi-rotor reliability in the presence of a broad class of disturbances, while providing a unifying framework that can be extended to multiple applications. The methods we present in this work are based on a feedback linearizing control strategy in which the controller is augmented with an extended high-gain observer. The addition of the extended high-gain observer allows us to overcome the typical drawbacks associated with using a feedback linearization control approach; primarily that we must have an excellent model of the system, and we must know any disturbances that are affecting the system. The extended high-gain observer not only provides estimates of any model uncertainties or external disturbances, but also any unmeasured states for use in output feedback control. This estimation and control strategy enables the multi-rotor to robustly track a trajectory in the presence of a broad class of unmodeled disturbances and without needing an extremely accurate system model. This method forms the base technology applied throughout this dissertation. We extend our estimation and control strategy in a number of ways in the coming chapters. We begin by extending the observer dynamics further to incorporate real-time trajectory estimation for a reference system which may have partially known or completely unknown dynamics, and for which we assume we only have access to the position of the reference system. The observer is then able to provide estimates of all higher-order trajectory terms required for feedforward control, improving transient tracking performance. We further extend this strategy to enable both the detection and classification of a complete actuator failure of a multi-rotor during flight. The identification subsequently enables a control reconfiguration and a recovery from the loss of an actuator to resume flight operations. This extension provides the ability to not only detect and correctly identify a failure, but to discern the failure from other external disturbances affecting the system during flight. Finally, we extend our estimation and control strategy to enable robust trajectory tracking for a novel form of multi-body multi-rotor systems. This type of system consists of a large carrier UAV which suspends a small platform which is itself actuated by a pair of rotors. The platform is equipped with a manipulator which enables long reach aerial manipulation. One advantage of this configuration is the workspace will not be disturbed by downwash from the carrier UAV. Each of these methods are rigorously analyzed to guarantee closed-loop stability and provide insights into the trade-offs that arise during the design process for these control systems utilizing extended high-gain observers.